Control device and control method for vehicle

Abstract

To provide a control device and a control method for a vehicle capable of highly accurately correcting vehicle speed based on relative speed of a stationary object detected by a radar device or a LiDAR.SOLUTION: A control device 10 of a vehicle 1 including a radar device 33 or a LiDAR capable of detecting a plurality of targets 100 in the outside includes a vehicle speed acquisition unit 11 that acquires vehicle speed detected by a vehicle speed sensor 21 mounted on the vehicle 1, and a vehicle speed correction unit 13 that corrects the vehicle speed based on a detection result of the radar device 33 or the LiDAR. When the number of stationary objects 110 is equal to or greater than a predetermined number, the vehicle speed correction unit 13 corrects the vehicle speed based on the relative speed of the plurality of stationary objects 110 with respect to the vehicle 1 detected by the radar device 33 or the LiDAR.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device and a control method for a vehicle equipped with a radar device or LiDAR capable of detecting multiple targets in the external world. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have become more active. To achieve this, we are focusing on research and development into driver assistance and preventive safety technologies to further improve road safety and convenience. Driver assistance and preventive safety technologies require highly accurate calculation of the vehicle's speed in order to accurately control the vehicle's driving.

[0003] For example, Patent Document 1 describes a radar device that corrects the detected vehicle speed, which is detected based on the rotation of the wheels, based on the relative speed of stationary objects around the vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6832166 Summary of the Invention [Problem to be solved by the invention]

[0005] In the technology disclosed in Patent Document 1 that corrects the detected vehicle speed based on the relative speed of stationary objects, there is a possibility that targets estimated to be stationary may include targets moving at a low speed. Even in such a case, there is room for improvement in terms of being able to calculate the vehicle speed with high accuracy without reducing the accuracy of the vehicle speed correction.

[0006] The present invention provides a vehicle control device and control method that can accurately correct vehicle speed based on the relative speed of a stationary object detected by a radar device or LiDAR. [Means for solving the problem]

[0007] The present invention provides A control device for a vehicle equipped with a radar device or LiDAR capable of detecting multiple targets in the external world, a vehicle speed acquisition unit that acquires a vehicle speed detected by a vehicle speed sensor mounted on the vehicle; a vehicle speed correction unit that corrects the vehicle speed based on a detection result of the radar device or the LiDAR, The vehicle speed correction unit acquiring information on a plurality of stationary objects estimated to be stationary from among the plurality of targets based on the detection results of the radar device or the LiDAR; When a predetermined condition is met, the vehicle speed is corrected based on the relative speeds of the plurality of stationary objects with respect to the vehicle detected by the radar device or the LiDAR; The predetermined condition includes the number of stationary objects being equal to or greater than a predetermined number.

[0008] The present invention also provides A method for controlling a vehicle equipped with a radar device or LiDAR capable of detecting multiple targets in the external world, a vehicle speed acquisition step of acquiring a vehicle speed detected by a vehicle speed sensor mounted on the vehicle; a stationary object information acquisition step of acquiring information on a plurality of stationary objects estimated to be stationary from among the plurality of targets based on the detection results of the radar device or the LiDAR; a condition determination step of determining whether or not a predetermined condition is satisfied, including the number of estimated stationary objects being equal to or greater than a predetermined number; When the predetermined condition is met, the computer is caused to execute a vehicle speed correction step of correcting the vehicle speed based on the relative speeds of the plurality of stationary objects with respect to the vehicle detected by the radar device or the LiDAR. [Effects of the Invention]

[0009] According to the present invention, it is possible to perform highly accurate correction of vehicle speed based on the relative speed of a stationary object detected by a radar device or LiDAR. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram of a vehicle 1 equipped with a control device 10 according to an embodiment of the present invention. [Figure 2] 1 is an example conceptually showing how a radar device 33 detects a plurality of targets 100 ahead of a vehicle 1. FIG. [Figure 3] 10 is another example conceptually showing how a radar device 33 detects a plurality of targets 100 (including moving targets) ahead of the vehicle 1. FIG. [Figure 4] 1 is a graph for explaining the dispersion of the relative velocities of a plurality of stationary objects 110. [Figure 5] 10 is a flowchart illustrating an example of a process for correcting a detected vehicle speed. [Figure 6] 10 is a flowchart illustrating an example of a correction condition determination process. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle control device and a control method according to the present invention will be described below with reference to the drawings.

[0012] A vehicle 1 according to one embodiment of the present invention is an automobile equipped with a drive source and wheels including drive wheels driven by the power of the drive source and steerable wheels. As an example, the vehicle 1 may be a four-wheel automobile having a pair of front and rear wheels.

[0013] The drive source of vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The drive source of vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front and rear wheels, i.e., four wheels. Either one of the front wheels or the rear wheels of vehicle 1 may be a steerable wheel, or both may be steerable wheels.

[0014] 1, the vehicle 1 includes a control device 10, a vehicle sensor 20 that acquires information about the vehicle 1, and an external sensor 30 that acquires information about the surroundings of the vehicle 1. Detection values ​​detected by the vehicle sensor 20 and the external sensor 30 are output to the control device 10 and used for controlling the vehicle 1 by the control device 10.

[0015] The vehicle sensors 20 include, for example, a vehicle speed sensor 21 and an inertial measurement unit (IMU) 22.

[0016] The vehicle speed sensor 21 detects the vehicle speed, which is the traveling speed of the vehicle 1. For example, the vehicle speed sensor 21 detects the vehicle speed based on the rotation of the wheels. Note that the vehicle speed sensor 21 may also detect the vehicle speed based on the rotation of a countershaft or the like provided in the vehicle 1.

[0017] The inertial measurement unit 22 detects angular velocities in the pitch, roll, and yaw directions of the vehicle 1, and accelerations in the front-to-rear, left-to-right, and up-to-down directions of the vehicle 1. Note that, instead of the inertial measurement unit 22, the vehicle sensor 20 may include an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 1, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 1.

[0018] The external sensors 30 include, for example, a camera 31 , a sonar 32 , and a radar device 33 .

[0019] The camera 31 captures an image of the surroundings of the vehicle 1 including the area ahead of the vehicle 1, and outputs image data of the obtained surrounding image to the control device 10. The camera 31 may be, for example, a digital camera using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).

[0020] Sonar 32 emits sound waves around vehicle 1 (for example, in front, behind, and to the sides of vehicle 1) and detects the distance and direction to the target by receiving reflected sound from the target around vehicle 1.

[0021] The radar device 33 has a transmitter 33a and a receiver 33b including an antenna, and emits radio waves to the periphery of the vehicle 1 including the area ahead of the vehicle 1, and receives reflected waves from targets present around the vehicle 1. In this way, the radar device 33 detects the distance and direction to the target, and detects the relative speed of the target with respect to the vehicle 1 based on the frequency of the reflected waves. For example, a millimeter wave radar device can be used as the radar device 33.

[0022] The radar device 33 has a signal processing unit 33c that processes received signals. The signal processing unit 33c includes, for example, a processor that performs various calculations, a storage device that stores various information, and an input / output unit that controls input and output of data.

[0023] The signal processing unit 33c of the radar device 33 identifies a target (hereinafter also referred to as a stationary object) that is estimated to be stationary from among the multiple detected targets based on the relative speed of the target. Stationary objects are assumed to be various objects detected by the radar device 33, such as parked vehicles, utility poles installed on the side of the road, signboards, etc. The signal processing unit 33c calculates the absolute speed of the target based on the relative speed of the detected target and the vehicle speed detected by the vehicle speed sensor 21 (hereinafter also referred to as the detected vehicle speed). If the absolute speed of the target is less than a predetermined speed, the signal processing unit 33c estimates the target to be a stationary object and sets a stationary object flag for the target to ON. If the absolute speed of the target is equal to or greater than the predetermined speed, the signal processing unit 33c estimates the target to be a moving object and sets a stationary object flag for the target to OFF.

[0024] The external sensor 30 may further include a LiDAR (Light Detection and Ranging). The LiDAR emits laser light to the periphery of the vehicle 1, including the area ahead of the vehicle 1, and receives reflected light from objects present around the vehicle 1 to detect the distance and direction to the object, the relative speed of the object with respect to the vehicle 1, and so on. The LiDAR also identifies a stationary object that is estimated to be stationary from among multiple targets based on the relative speed of the target.

[0025] The control device 10 is a computer that includes, for example, a processor 10a that performs various calculations, a storage unit 10b that has a non-transitory storage medium that stores various information, and an input / output unit 10c that controls input and output of data between the inside and outside of the control device 10, and that performs overall control of the vehicle 1. For example, the control device 10 is realized by one ECU (Electronic Control Unit) or by multiple ECUs working together.

[0026] The control device 10 includes, for example, a vehicle speed acquisition unit 11, an acceleration acquisition unit 12, and a vehicle speed correction unit 13 as functional units realized by the processor 10a executing a program stored in the memory unit 10b.

[0027] The vehicle speed acquisition unit 11 receives a signal from the vehicle speed sensor 21 and acquires the detected vehicle speed of the vehicle 1. The acceleration acquisition unit 12 receives a signal from the inertial measurement unit 22 and acquires the acceleration in each direction of the vehicle 1. Note that the vehicle speed acquisition unit 11 may be configured to acquire the vehicle speed of the vehicle 1 as the detected vehicle speed based on the signal from the vehicle speed sensor 21 and the signal from the inertial measurement unit 22.

[0028] When a predetermined correction condition described later is met, the vehicle speed correction unit 13 corrects the detected vehicle speed acquired by the vehicle speed acquisition unit 11. The detected vehicle speed includes an error compared to the actual vehicle speed when the wheel diameter changes due to changes in tire air pressure, wear, etc., so the correction by the vehicle speed correction unit 13 reduces the error between the detected vehicle speed and the actual vehicle speed.

[0029] The vehicle speed correction unit 13 calculates a correction value based on the detected vehicle speed and the relative speeds of multiple stationary objects detected by the radar device 33, and corrects the detected vehicle speed based on the correction value. The correction value is, for example, a correction factor obtained by dividing the detected vehicle speed by the average value of the relative speeds of the multiple stationary objects.

[0030] The correction allows the detected vehicle speed to approach the actual vehicle speed, thereby improving the accuracy and reliability of driving control related to driving assistance, including, for example, automatic driving (autonomous driving of the vehicle 1 without driver operation) of the vehicle 1. Driving assistance includes, for example, collision mitigation brake control (also referred to as CMBS (Collision Mitigation Brake System)) that assists in avoiding and mitigating a collision between the vehicle 1 and an object ahead when the probability of a collision with the object increases.

[0031] 2 is an example conceptually illustrating how a radar device 33 detects a plurality of targets 100 ahead of the vehicle 1. In the illustrated example, the radar device 33 is attached to the center front of the vehicle 1, but this is not limitative and the location of the attachment to the vehicle 1 is arbitrary as long as it is capable of emitting radio waves ahead of the vehicle 1.

[0032] The radar device 33 detects a plurality of targets 100 ahead of the vehicle 1 by emitting radio waves ahead of the vehicle 1 and receiving reflected waves from surrounding objects. The radar device 33 estimates targets that are estimated to be stationary as stationary objects 110 based on the relative speed of the targets 100 and the detected vehicle speed, and turns on a stationary object flag for each stationary object 110.

[0033] In the example shown in FIG. 2 , the radar device 33 detects a utility pole 100a, a parked vehicle 100b, a signboard 100c, and a pole 100d in front of the vehicle 1 as targets 100. The radar device 33 then calculates the absolute speed of each target 100 based on the relative speed of each target 100 and the detected vehicle speed. The utility pole 100a, the parked vehicle 100b, the signboard 100c, and the pole 100d are completely stationary targets 100, and the calculated absolute speeds of each target 100 are less than the predetermined speed described above, so the radar device 33 estimates these targets 100 as stationary objects 110. Note that FIG. 2 illustrates a case in which the utility pole 100a, the parked vehicle 100b, the signboard 100c, and the pole 100d are present in front of the vehicle 1 as multiple targets 100; however, in reality, many objects, including moving objects and other stationary objects (not shown), exist and are detected by the radar device 33.

[0034] The control device 10 acquires information on the multiple targets 100 from the radar device 33. Specifically, the control device 10 acquires information such as the distance, direction, and relative speed between the vehicle 1 and each target 100, as well as information on the stationary object flag of each target 100, from the radar device 33. As a result, the control device 10 recognizes the presence of the multiple targets 100 detected by the radar device 33 and the stationary objects 110 included in the multiple targets 100.

[0035] Then, the control device 10 corrects the detected vehicle speed based on the relative speed of the stationary object 110 with respect to the vehicle 1 and the detected vehicle speed. If the stationary object 110 is a completely stationary object, the relative speed of the stationary object 110 takes a value close to the actual vehicle speed of the vehicle 1.

[0036] 3 is another example conceptually illustrating how the radar device 33 detects a plurality of targets 100 ahead of the vehicle 1. FIG. 3 illustrates a case where a plurality of pedestrians 120 (an example of moving targets 100) are present ahead of the vehicle 1.

[0037] 2, the radar device 33 estimates the utility pole 100a, the signboard 100c, and the pole 100d in front of the vehicle 1 as stationary objects 110 and turns on the stationary object flags for each of them. On the other hand, the radar device 33 estimates multiple walking pedestrians 120 as moving objects and turns off the stationary object flags for the pedestrians 120.

[0038] However, for example, with respect to a pedestrian 121 walking at a low speed among multiple pedestrians 120, the radar device 33 may estimate the pedestrian 121 as a stationary object 110 and turn on a stationary object flag for the pedestrian 121. In other words, the stationary objects 110 estimated based on the detection results of the radar device 33 may include moving objects (pedestrians 121 in this case) in addition to completely stationary objects. As described above, the correction of the detected vehicle speed by the control device 10 is performed based on the relative speed of the stationary objects 110. Therefore, even when a moving target is included in the stationary objects 110, it is required that the accuracy of correction of the detected vehicle speed is not reduced and the vehicle speed can be calculated with high accuracy.

[0039] In this embodiment, the control device 10 corrects the vehicle speed when a predetermined correction condition is met. Specifically, the correction condition includes that the number of estimated stationary objects 110 is equal to or greater than a predetermined number (e.g., 10 or more). When the number of estimated stationary objects 110 is equal to or greater than the predetermined number, the control device 10 corrects the detected vehicle speed based on the relative speeds of the multiple stationary objects 110. In other words, when the number of estimated stationary objects 110 is less than the predetermined number, the control device 10 does not correct the detected vehicle speed.

[0040] With this configuration, even if the estimated plurality of stationary objects 110 includes a moving target (e.g., a pedestrian 121), the influence of the moving target is relatively reduced due to the presence of the other plurality of stationary objects 110 that are completely stationary. Therefore, it is possible to prevent a decrease in the correction accuracy of the detected vehicle speed, and to perform a highly accurate correction of the vehicle speed. Furthermore, since the detected vehicle speed is not corrected when the number of estimated stationary objects 110 is less than a predetermined number, it is possible to avoid a low-accuracy correction.

[0041] Furthermore, even if the estimated multiple stationary objects 110 do not include a moving target, differences in the distance between each stationary object 110 and the vehicle 1 may cause variations in the detected relative speed, resulting in a decrease in the accuracy of correction of the detected vehicle speed. The control device 10 of this embodiment corrects the detected vehicle speed when the number of estimated stationary objects 110 is equal to or greater than a predetermined number, thereby suppressing such a decrease in correction accuracy and enabling the vehicle speed to be corrected with high accuracy. Therefore, by improving the accuracy of the vehicle speed information of the vehicle 1 used for driving control of the driving assistance technology, the reliability of the driving assistance technology can be improved.

[0042] In order to improve the accuracy of correcting the detected vehicle speed, the above-mentioned correction conditions preferably include a further condition in addition to the number of estimated stationary objects 110 being equal to or greater than a predetermined number.

[0043] For example, the correction conditions preferably further include that the variance of the relative velocities of the plurality of stationary objects 110 is less than a predetermined value.

[0044] FIG. 4 is a graph for explaining the variance of the relative velocities of multiple stationary objects 110, and shows the distribution of each relative velocity of the multiple stationary objects 110. Graph A (thick solid line) shows a narrow distribution of the detected stationary objects 110, with the relative velocities of each stationary object 110 clustering around the average value. In other words, graph A shows a small variance of the relative velocities. Graph A corresponds to a case where no moving targets are included among those estimated to be stationary objects 110, or where there are only a small number of moving targets. On the other hand, graph B (thin solid line) shows a wide distribution of the detected stationary objects 110. In other words, graph B shows a large variance of the relative velocities. Graph B corresponds to a case where there are more moving targets included among those estimated to be stationary objects 110 than in graph A.

[0045] When the radar device 33 obtains a detection result with small variance as shown in graph A and a detection result with large variance as shown in graph B, it is considered that the proportion of moving targets included in the targets estimated to be stationary objects 110 is lower in the case of graph A. Therefore, it is preferable that the control device 10 corrects the vehicle speed when a detection result with small variance as shown in graph A is obtained. It is also preferable that the control device 10 does not correct the vehicle speed when a detection result with large variance as shown in graph B is obtained. This configuration can more reliably prevent a decrease in the accuracy of vehicle speed correction. Note that, in the above correction condition, instead of the variance of the relative speed, a condition that the standard deviation of the relative speed is less than a predetermined value may be used.

[0046] Preferably, the correction condition further includes that the state in which the estimated number of stationary objects 110 is equal to or greater than a predetermined number continues for a predetermined time or longer. Since the vehicle speed is corrected when stationary objects 110 are stably detected, the accuracy of the vehicle speed correction is improved.

[0047] Preferably, the correction condition further includes that the estimated stationary object 110 is detected by the radar device 33 while the vehicle 1 is traveling straight. The relative speed of the target 100 detected while the vehicle 1 is traveling straight is detected with higher accuracy than the relative speed of the target 100 detected by the radar device 33 while the vehicle 1 is traveling around a curve or turning right or left. When the correction condition is met, the detection accuracy of the relative speed of the stationary object 110 increases, and as a result, the correction accuracy of the vehicle speed improves.

[0048] Preferably, the correction condition further includes that the estimated stationary object 110 is detected by the radar device 33 while the vehicle 1 is traveling at a first speed (e.g., 5 km / h) or higher. When the vehicle 1 is traveling at a low speed, there is a possibility that the detection error of the relative speed of the target 100 will be relatively large. Therefore, it is preferable that the correction condition includes a lower limit value of the traveling speed (i.e., the first speed). When the correction condition is met, the detection accuracy of the relative speed of the stationary object 110 increases, and as a result, the correction accuracy of the vehicle speed improves. Note that the first speed may be variably set depending on the traveling conditions of the vehicle 1 (such as the width of the road and whether or not pedestrians are detected).

[0049] Preferably, the correction condition further includes that the estimated stationary object 110 is detected by the radar device 33 while the vehicle 1 is traveling at a predetermined acceleration or less. The acceleration here is, for example, the longitudinal acceleration and / or lateral acceleration of the vehicle 1, and it is determined whether the longitudinal acceleration and / or lateral acceleration detected by the inertial measurement unit 22 is equal to or less than the predetermined acceleration. The relative velocity of the stationary object 110 detected by the radar device 33 is more accurately detected when the vehicle speed changes little than when the vehicle speed changes much. Therefore, when the correction condition is met, the detection accuracy of the relative velocity of the stationary object 110 is improved, and as a result, the correction accuracy of the vehicle speed is improved.

[0050] Fig. 5 is a flowchart showing an example of a process for correcting the detected vehicle speed by the control device 10, and Fig. 6 is a flowchart showing an example of a process for determining a correction condition. The control device 10 executes the flowchart of Fig. 5 at predetermined time intervals.

[0051] 5, the control device 10 first determines whether or not a correction condition exists (step S10). The correction condition determination is performed based on the flowchart of FIG.

[0052] 6, in the correction condition determination, the control device 10 determines whether or not the various conditions included in the correction condition described above are satisfied (steps S11 to S16). If all of the various conditions included in the correction condition are satisfied (steps S11 to S16: YES), the control device 10 determines that the correction condition is satisfied (step S17). On the other hand, if at least one of the various conditions included in the correction condition is not satisfied (at least one of steps S11 to S16 is NO), the control device 10 determines that the correction condition is not satisfied (step S18).

[0053] The order of steps S11 to S16 is not limited to this, and can be set arbitrarily. Also, the correction condition determination does not need to include all of steps S11 to S16, and any step may be omitted or other steps may be added.

[0054] 5, after the correction condition determination (step S10) is performed, the control device 10 determines whether the correction condition is met (step S20). If the correction condition is met (step S20: YES), the control device 10 calculates and updates a correction value (step S21). Specifically, if a correction value calculated during the previous execution of the flowchart has already been set, the control device 10 updates the calculated correction value to a new value in step S21, and if a correction value has not been set (or is zero), the control device 10 sets the correction value in step S21.

[0055] If the correction condition is not met (step S20: NO), the control device 10 maintains the correction value (step S22). Specifically, if the correction value calculated during the previous execution of the flowchart has already been set, the control device 10 maintains the correction value in step S22, and if the correction value has not been set (or is zero), the control device 10 does not set the correction value in step S22.

[0056] In step S21, it is preferable that the control device 10 imposes a limit on the correction value if the calculated correction value is outside a predetermined range. Specifically, if the correction rate, which is an example of a correction value, is outside the range of -5% to +5%, the corrected vehicle speed may deviate significantly from the detected vehicle speed, so the control device 10 imposes a limit on the correction rate. For example, if the correction rate exceeds +5%, the control device 10 sets the correction rate to +5%. In other words, +5% becomes the upper limit of the correction rate. If the correction rate is below -5%, the control device 10 sets the correction rate to -5%. In other words, -5% becomes the lower limit of the correction rate. This configuration makes it possible to prevent the corrected vehicle speed from being set excessively high or low.

[0057] The control device 10 may be configured to impose a limit on the corrected vehicle speed when the corrected vehicle speed is outside a predetermined range. Specifically, when the difference between the corrected vehicle speed and the detected vehicle speed is equal to or greater than a predetermined value, the corrected vehicle speed may deviate significantly from the detected vehicle speed, so the control device 10 imposes a limit on the corrected vehicle speed. For example, when the difference between the corrected vehicle speed and the detected vehicle speed is equal to or greater than a predetermined value, the control device 10 sets the corrected vehicle speed to a predetermined upper limit value or lower limit value.

[0058] After step S21 or S22, the control device 10 determines whether the detected vehicle speed is equal to or greater than a second speed (step S23). The second speed is a speed that is approximately the same as the first speed or less than the first speed.

[0059] When the vehicle 1 is traveling at a low speed, the difference between the detected vehicle speed and the actual vehicle speed is relatively small, so if the detected vehicle speed is less than the second speed, the control device 10 does not correct the detected vehicle speed regardless of whether the correction condition is met (step S25). This makes it possible to prevent excessive correction of the detected vehicle speed. As the traveling speed of the vehicle 1 increases, the difference between the detected vehicle speed and the actual vehicle speed increases, so the control device 10 corrects the detected vehicle speed if the detected vehicle speed is equal to or greater than the second speed (step S24).

[0060] In this embodiment, while the ignition of the vehicle 1 is being switched from the ON state to the OFF state, the control device 10 maintains the correction value calculated in step S21 in the storage unit 10b until the next correction condition is met. As a result, the highly accurate correction value calculated in step S21 is maintained while the ignition is in the ON state, thereby improving the reliability of the driving assistance technology.

[0061] The control method described in the above-described embodiment can be realized by executing a prepared control program on a computer. The control program is stored in a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored in a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device 10 or the radar device 33. The computer that executes the control program may be included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device 10 and / or the radar device 33, or may be included in a server device that can communicate with these devices.

[0062] Although one embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above embodiment may be combined in any manner without departing from the spirit of the invention.

[0063] For example, in the above-described embodiment, the correction of the detected vehicle speed based on the target 100 detected by the radar device 33 has been described, but the present invention is not limited to this. The control device 10 may be configured to correct the detected vehicle speed based on the target detected by LiDAR.

[0064] In the above-described embodiment, the signal processing unit 33c of the radar device 33 detects the relative velocity of the target and estimates whether the target is a stationary object, but the present invention is not limited to this. A function corresponding to the signal processing unit 33c may be provided in the control device 10. In other words, the control device 10 may be configured to estimate whether the target detected by the radar device 33 is a stationary object based on the detection result of the radar device 33.

[0065] In the above-described embodiment, a limit is imposed on the correction value or the corrected vehicle speed in step S21, but instead, a condition that the corrected vehicle speed is within a predetermined range of the detected vehicle speed or that the correction value is within a predetermined range may be added to the correction conditions. With this configuration, the vehicle speed is not corrected if the accuracy of the vehicle speed correction is low and there is a possibility that the corrected vehicle speed will be set excessively high or low.

[0066] This specification describes at least the following: In parentheses, components corresponding to those in the above-described embodiments are shown as examples, but the present invention is not limited to these.

[0067] (1) A control device (control device 10) for a vehicle (vehicle 1) equipped with a radar device (radar device 33) or LiDAR capable of detecting multiple targets (targets 100) in the external world, a vehicle speed acquisition unit (vehicle speed acquisition unit 11) that acquires a vehicle speed detected by a vehicle speed sensor (vehicle speed sensor 21) mounted on the vehicle; A vehicle speed correction unit (vehicle speed correction unit 13) that corrects the vehicle speed based on the detection result of the radar device or the LiDAR, The vehicle speed correction unit Acquire information on a plurality of stationary objects (stationary objects 110) that are estimated to be stationary from among the plurality of targets based on the detection results of the radar device or the LiDAR; When a predetermined condition is met, the vehicle speed is corrected based on the relative speeds of the plurality of stationary objects with respect to the vehicle detected by the radar device or the LiDAR; The predetermined condition includes that the number of the stationary objects is equal to or greater than a predetermined number. Vehicle control device.

[0068] According to (1), when the number of estimated stationary objects is equal to or greater than a predetermined number, even if a moving target is estimated as a stationary object, the influence of the moving target is relatively reduced due to the presence of other completely stationary objects. This makes it possible to prevent a decrease in the accuracy of vehicle speed correction, and to perform vehicle speed correction with high accuracy. Therefore, by improving the accuracy of vehicle speed information used for driving control of the driving assistance technology, the reliability of the driving assistance technology can be improved.

[0069] (2) A control device for a vehicle according to (1), the vehicle speed correction unit calculates a variance or a standard deviation of the relative speeds of the plurality of stationary objects; The predetermined condition further includes that the variance or the standard deviation is less than a predetermined value. Vehicle control device.

[0070] According to (2), the vehicle speed is corrected when the proportion of moving targets among the targets estimated as stationary is low. On the other hand, the vehicle speed is not corrected when the proportion of moving targets among the targets estimated as stationary is high. Therefore, it is possible to more reliably prevent a decrease in the accuracy of the vehicle speed correction.

[0071] (3) A control device for a vehicle according to (1) or (2), The predetermined condition further includes that the state in which the number of stationary objects is equal to or greater than the predetermined number continues for a predetermined period of time or more. Vehicle control device.

[0072] According to (3), the vehicle speed is corrected when a stationary object is stably detected, so that the accuracy of the vehicle speed correction is improved.

[0073] (4) A control device for a vehicle according to any one of (1) to (3), The predetermined condition further includes that the plurality of stationary objects are detected by the radar device or the LiDAR while the vehicle is traveling straight. Vehicle control device.

[0074] According to (4), the relative speed obtained from a stationary object detected while the vehicle is traveling straight is detected with higher detection accuracy than the relative speed obtained from a stationary object detected while the vehicle is traveling around a curve, etc. Therefore, the detection accuracy of the relative speed of the stationary object is improved, and as a result, the correction accuracy of the vehicle speed is improved.

[0075] (5) A control device for a vehicle according to any one of (1) to (4), The predetermined condition further includes that the plurality of stationary objects are detected by the radar device or the LiDAR while the vehicle is traveling at a first speed or higher. Vehicle control device.

[0076] According to (5), when the vehicle travels at the first speed or faster, the detection error of the relative speed of the stationary object becomes relatively small, and the detection accuracy of the stationary object increases. As a result, the correction accuracy of the vehicle speed improves.

[0077] (6) A control device for a vehicle according to any one of (1) to (5), The predetermined condition further includes that the plurality of stationary objects are detected by the radar device or the LiDAR while the vehicle is traveling at a predetermined acceleration or less. Vehicle control device.

[0078] According to (6), the relative velocity obtained from a stationary object detected when the change in vehicle speed is small has higher detection accuracy than the relative velocity obtained from a stationary object detected when the change in vehicle speed is large, thereby improving the accuracy of vehicle speed correction.

[0079] (7) A control device for a vehicle according to any one of (1) to (6), The vehicle speed correction unit calculating a correction value based on the relative speed when the predetermined condition is met; If the calculated correction value is outside a predetermined range or if the corrected vehicle speed is outside a predetermined range with respect to the vehicle speed acquired by the vehicle speed acquisition unit, a limit is imposed on the correction value or the corrected vehicle speed. Vehicle control device.

[0080] According to (7), if the corrected vehicle speed deviates significantly from the vehicle speed acquired by the vehicle speed acquisition unit, a limit is imposed on the correction value or the corrected vehicle speed, thereby preventing the corrected vehicle speed from being set excessively high or low.

[0081] (8) A control device for a vehicle according to any one of (1) to (6), The predetermined condition further includes that the corrected vehicle speed calculated by the vehicle speed correction unit is within a predetermined range with respect to the vehicle speed acquired by the vehicle speed acquisition unit, or that the correction value calculated by the vehicle speed correction unit is within a predetermined range. Vehicle control device.

[0082] According to (8), when the accuracy of vehicle speed correction is low and there is a possibility that the corrected vehicle speed will be set excessively high or low, it is possible to avoid correcting the vehicle speed.

[0083] (9) A control device for a vehicle according to any one of (1) to (8), The vehicle speed correction unit When the predetermined condition is met, a correction value is calculated based on the relative speed, and the vehicle speed is corrected based on the correction value. While the ignition of the vehicle is changed from an ON state to an OFF state, the correction value is maintained after calculation of the correction value until the next time the predetermined condition is satisfied. Vehicle control device.

[0084] According to (9), a highly accurate correction value is maintained while the ignition is in the ON state, thereby improving the reliability of driving assistance technology.

[0085] (10) A control method for a vehicle (vehicle 1) equipped with a radar device (radar device 33) or LiDAR capable of detecting multiple targets (targets 100) in the external world, a vehicle speed acquisition step of acquiring a vehicle speed detected by a vehicle speed sensor (vehicle speed sensor 21) mounted on the vehicle; a stationary object information acquisition step of acquiring information on a plurality of stationary objects (stationary objects 110) estimated to be stationary from among the plurality of targets based on the detection results of the radar device or the LiDAR; a condition determination step of determining whether or not a predetermined condition is satisfied, including the number of estimated stationary objects being equal to or greater than a predetermined number; and a vehicle speed correction step of correcting the vehicle speed based on relative velocities of the plurality of stationary objects with respect to the vehicle detected by the radar device or the LiDAR when the predetermined condition is met. How to control the vehicle.

[0086] According to (10), when the number of estimated stationary objects is equal to or greater than a predetermined number, even if a moving target is estimated as a stationary object, the influence of the moving target is relatively reduced due to the presence of other completely stationary objects. This makes it possible to prevent a decrease in the accuracy of vehicle speed correction, and to perform vehicle speed correction with high accuracy. Therefore, by improving the accuracy of vehicle speed information used for driving control of the driving assistance technology, the reliability of the driving assistance technology can be improved. [Explanation of symbols]

[0087] 1 vehicle 10 Control device 11 Vehicle speed acquisition part 13 Vehicle speed correction section 21 Vehicle speed sensor 33 Radar equipment 100 targets 110 Stationary objects

Claims

1. A control device for a vehicle equipped with a radar device or LiDAR capable of detecting multiple targets in the external world, a vehicle speed acquisition unit that acquires a vehicle speed detected by a vehicle speed sensor mounted on the vehicle; a vehicle speed correction unit that corrects the vehicle speed based on a detection result of the radar device or the LiDAR, The vehicle speed correction unit acquiring information on a plurality of stationary objects estimated to be stationary from among the plurality of targets based on the detection results of the radar device or the LiDAR; When a predetermined condition is met, the vehicle speed is corrected based on the relative speeds of the plurality of stationary objects with respect to the vehicle detected by the radar device or the LiDAR; The predetermined condition includes that the number of the stationary objects is equal to or greater than a predetermined number. Vehicle control device.

2. The vehicle control device according to claim 1, the vehicle speed correction unit calculates a variance or a standard deviation of the relative speeds of the plurality of stationary objects; The predetermined condition further includes that the variance or the standard deviation is less than a predetermined value. Vehicle control device.

3. The vehicle control device according to claim 1 or 2, The predetermined condition further includes that the state in which the number of stationary objects is equal to or greater than the predetermined number continues for a predetermined period of time or more. Vehicle control device.

4. The vehicle control device according to claim 1 or 2, The predetermined condition further includes that the plurality of stationary objects are detected by the radar device or the LiDAR while the vehicle is traveling straight. Vehicle control device.

5. The vehicle control device according to claim 1 or 2, The predetermined condition further includes that the plurality of stationary objects are detected by the radar device or the LiDAR while the vehicle is traveling at a first speed or higher. Vehicle control device.

6. The vehicle control device according to claim 1 or 2, The predetermined condition further includes that the plurality of stationary objects are detected by the radar device or the LiDAR while the vehicle is traveling at a predetermined acceleration or less. Vehicle control device.

7. The vehicle control device according to claim 1 or 2, The vehicle speed correction unit calculating a correction value based on the relative speed when the predetermined condition is met; If the calculated correction value is outside a predetermined range or if the corrected vehicle speed is outside a predetermined range with respect to the vehicle speed acquired by the vehicle speed acquisition unit, a limit is imposed on the correction value or the corrected vehicle speed. Vehicle control device.

8. The vehicle control device according to claim 1 or 2, The predetermined condition further includes that the corrected vehicle speed calculated by the vehicle speed correction unit is within a predetermined range with respect to the vehicle speed acquired by the vehicle speed acquisition unit, or that the correction value calculated by the vehicle speed correction unit is within a predetermined range. Vehicle control device.

9. The vehicle control device according to claim 1 or 2, The vehicle speed correction unit When the predetermined condition is met, a correction value is calculated based on the relative speed, and the vehicle speed is corrected based on the correction value. maintaining the correction value after calculation of the correction value until the next time the predetermined condition is satisfied, while the ignition of the vehicle is changed from an ON state to an OFF state; Vehicle control device.

10. A method for controlling a vehicle equipped with a radar device or LiDAR capable of detecting multiple targets in the external world, a vehicle speed acquisition step of acquiring a vehicle speed detected by a vehicle speed sensor mounted on the vehicle; a stationary object information acquisition step of acquiring information on a plurality of stationary objects estimated to be stationary from among the plurality of targets based on the detection results of the radar device or the LiDAR; a condition determination step of determining whether or not a predetermined condition is satisfied, including the number of estimated stationary objects being equal to or greater than a predetermined number; and a vehicle speed correction step of correcting the vehicle speed based on the relative velocities of the plurality of stationary objects with respect to the vehicle detected by the radar device or the LiDAR when the predetermined condition is met. How to control the vehicle.

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